Relative Range Camera Calibration

1. A method of measuring a relative pose between two cameras, comprising: selecting a time offset value corresponding to a time shift between the two cameras; calculating a transformation parameter using the time offset value capable of transforming data in a coordinate frame of one of the two cameras into a coordinate frame of the other of the two cameras so as to obtain the relative pose; and applying the time offset value to data from at least one of the two cameras; wherein the data are measurements by the two cameras of a path of an object.

2. A method of measuring a relative pose between two cameras, comprising: selecting a time offset value corresponding to a time shift between the two cameras; calculating a transformation parameter using the time offset value capable of transforming data in a coordinate frame of one of the two cameras into a coordinate frame of the other of the two cameras so as to obtain the relative pose; and applying the time offset value to data from at least one of the two cameras; wherein a plurality of time offset values are selected and a corresponding transformation parameter is calculated for each of the plurality of time offset values; wherein one of the plurality of time offset values is chosen as a most correct time offset based on an error function; wherein the error function includes a least median of square technique.

3. A method of calibrating a first and a second range camera, comprising: measuring a path of a moving object with the first range camera to generate a first observed object path; measuring the object path with the second range camera to generate a second observed object path; and calculating a transformation parameter that causes the first observed object path to approximately overlap with the second observed object path so as to determine a relative pose between the first and second range cameras.

4. The method of claim 3 , wherein the transformation parameter is calculated using a time offset value.